Automatic Robot Joint Offset Calibration
نویسنده
چکیده
A contact-based calibration technique using a robot-mounted calibration probe, has been experimented with. The probe is to be implemented by utilizing a wrist-mounted force sensor. The technique is based on constraining the sampled robot joint poses to those where the probe end is in controlled contact with a planar surface. The paper illustrates how the technique may be used to achieve a joint offsets identification to an accuracy comparable to the accuracy with which the joint and tool positions can be measured. The joint offsets are the main objective for calibration since it is the main source for inaccuracy in modern industrial robots.
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